Robust Distributed ℒasso-Model Predictive Control Design: A Case Study on Large-Scale Multi-Robot Systems

Document Type : Research Article


Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran


The complexity and dynamic order of large-scale systems is continuously increasing. Considering the many challenges that exist for these systems, it is very important to provide a robust distributed controller that performs well against uncertainties, computation volume, and interaction between subsystems. A robust-distributed ℒasso-MPC (RD-LMPC) approach is suggested in this study for multi-robot systems in the presence of polytopic uncertainty. In addition, a distributed Kalman filter is used to capture interactions between subsystems. To evaluate and perform the effectiveness of the suggested approach, the results obtained on the multi-robot system are compared with the results of the predictive control methods of the centralized, distributed model, and L1 adaptive control}.


Main Subjects

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